Multi-line laser radar obstacle avoidance device and method

Abstract

The invention discloses a multi-line laser radar obstacle avoidance device and method in the field of vehicle-mounted sensor assemblys. The multi-line laser radar obstacle avoidance device is provided with a brim, the brim can reflect laser, after the laser is reflected through a reflecting film on the inner side wall of the brim, detection of obstacles at different distances by a laser radar is achieved, and the problem that the overlook angle is limited is effectively solved; the incident angle to the ground is increased through the brim, and the problem that a common laser radar is difficult to detect a cliff is solved. According to the invention, through the brim, the area in the scanning range becomes wider, the detection blind area of the laser radar is reduced, there is no need to add a plurality of radars to realize vehicle obstacle avoidance, and the cost is saved; due to the buckle type structure of the buckle on the brim, the brim is convenient to assemble and disassemble, when the obstacle avoidance distance needs to be adjusted, only the brim needs to be replaced, the structure is simple, and replacement is convenient; the differential GPS antenna mounting boss is arranged, so that a differential GPS antenna mounting position is reserved, and an antenna mounting scheme does not need to be specially designed for a vehicle.

Description

technical field [0001] The invention belongs to the field of vehicle sensor components; in particular, it relates to a multi-line laser radar obstacle avoidance device. Background technique [0002] Multi-line lidar uses time-of-flight measurements. Specifically: the laser radar sends out laser pulses and starts timing (t1). When the laser meets the target object and the light returns, the receiving end stops timing (t2), so that the distance can be obtained by the formula "distance = speed of light × (t2-t1) / 2" [0003] Multi-line lidar can also measure two or more distances and calculate their rate of change to obtain velocity. However, when the existing multi-line laser radar is in use, when the laser beam emitted by the laser radar is higher than the obstacle, the obstacle cannot be detected because the echo reflected from the obstacle is not received, that is, the laser radar blind spot. [0004] As a vehicle-mounted radar, when the vehicle uses lidar for obstacle de...

AI Technical Summary

Problems solved by technology

However, when the existing multi-line laser radar is in use, when the beam height of the laser radar is higher than the obstacle, the obstacle cannot be detected because the echo reflected from the obstacle is not received, that is, the laser radar blind spot

[0004] As a vehicle-mounted radar, when the vehicle uses laser radar for obstacle detection, it is not only necessary to detect obstacles at a long distance in front of the vehicle, but also to detect obstacles at short distances. Therefore, it is necessary to use multiple laser radars for detection. The detection method greatly increases the cost, and at the same time increases the vehicle burden and energy consumption. Therefore, a laser radar can provide short-range obstacle recognition and positioning capabilities without using multiple laser radars, and realize different distance detection through one laser radar. Obstacle detection, the emergence of radar obstacle avoidance devices that effectively solve the problem of limited viewing angles is imminent

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